الفهرس 
Introduction and Review of LiteratureOnly 14 pages are availabe for public view
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Abstract
The last decades of human history have shown that humans deal with a lot of diseases. Although many diseases are widely spread, human treatment is still limited due to the inability to evaluate the symptoms, causes, and progress of the disease. One of these diseases is the physical disability of the upper limb motion such as full or partial loss of function in the shoulder, elbow, hand, or wrist which is a common impairment in the elderly, but children and youth also suffer from it. Through the last decades, the number of disabled people and the cost of these surgeries has increased at an alarming rate, so the motion of the upper limb has got great attention from many researchers to simulate the upper limb motion and introduce new techniques for the treatment. Solving the problem of the traditional rehabilitation programs, a new wrist-joint rehabilitation exoskeleton robot is developed. This robot is a wearable robot with low weight, safe for humans, easy to wear and remove, and has good strength. This study focuses on the design, manufacturing, modeling, and control of a wrist-joint rehabilitation exoskeleton robot. The exoskeleton robot consists of three systems, the first is the mechanical one, the second one is the electrical circuit used to actuation, control, and sense the output of the robot, final one is the pneumatic circuit used for actuating the robot’s motion. A comparison between the experimental and simulation results of the robot’s dynamic behavior is produced. The pressure and force of the pneumatic artificial muscle profiles are presented. In addition, the angle profile of the wrist-joint to evaluate the performance of the robot dynamics. Two modes are proposed to explore the effect of the following on the robot dynamic response: the charging/discharging timing and the charging/discharging pressure. The comparison shows a high matching between the modeling and experimental results. Finally, a design of a PID-based control system with a disturbance observer is developed. Organization of the thesis The thesis comprises eight chapters as follows: Chapter 1 shows an introduction to human upper limb diseases. The components and range of motion of the human upper limb. Also, the rehabilitation program is being discussed. Finally, a brief literature review of upper limb rehabilitation robots is discussed. Chapter 2 introduces the design considerations and the overall design of the developed exoskeleton wrist-joint rehabilitation robot. The robot design is built in SOLIDWORKS software. Finally, the pneumatic artificial muscle which is used as the actuator in the robot is discussed. Chapter 3 includes the experimental setup of the wrist-joint rehabilitation exoskeleton robot and the experimental two procedures for the evaluation of the robot’s dynamic behavior. In addition, a detailed description of the three main systems, mechanical, pneumatic, and electrical systems that composed the robot is produced. Chapter 4 demonstrates the derivation of the dynamic model of the proposed robot. Robot dynamic modeling includes the modeling of the mechanical construction, the PAMs, and the associated pneumatic system. Finally, the model is built-in SIMULINK-MATLAB software. Chapter 5 illustrates the experimental identification of both the coefficients of the static model of the PAMs and the capacity coefficient of the one-way flow control valve with their procedures. Chapter 6 demonstrates the results of the identification of the PAMs static model and the one-way flow control valve. The experimental results of the robot dynamics compared to the theoretical ones for both modes-1 and -2 are also introduced. The effect of the actuation timing is presented, besides the investigation of the pressure variance. The pneumatic artificial muscle pressure, force and wrist-joint angle profiles are reported for each technique. Chapter 7 introduces two control algorithms for the wrist-joint to track the angle of the wrist-joint according to a desired trajectory which is done by varying the pressure into the muscles. Chapter 8 includes the conclusions obtained from the identification of the PAMs and the one-way flow control valve. Also, the conclusions of robot dynamics according to the two actuation modes and the controller design. In addition, recommendations for future work are reported.